Hough Scan Matching

The research work I did for my bachelor thesis resulted in a novel scan matching algorithm called Hough Scan Matching. Its main characteristics are the possibilities to do global and multimodal searches, to work in unstructured environments and with very noisy sensors. It is provably complete for exact input.

• A. Censi, L. Iocchi, G. Grisetti - Scan Matching in the Hough Domain (PDF), presented at ICRA 2005.
  

  @inproceedings{CensiIocchi-hsm,
       author = {Censi, Andrea and Iocchi, Luca and Grisetti, Giorgio},
        title = {Scan matching in the Hough domain},
    booktitle = {Proceedings of the IEEE International Conference 
                 on Robotics and Automation},
         year = {2005},
        pages = {2739--2744},
       address= {Barcelona, Spain},
          url = { http://purl.org/censi/2006/hsm}
  }

  Slides - (PPT, 1.1M).
• A Matlab implementation is available (ZIP). You can see the online docs.
• My bachelor thesis (extended paper) (PDF, 2MB).
  Slides, in italian with movies (zip,ppt+mpg, 17MB), or without without (zip,ppt, 5MB).